CN109746905A

CN109746905A - Robot and robot system

Info

Publication number: CN109746905A
Application number: CN201811301104.0A
Authority: CN
Inventors: 后藤纯伸; 大轮拓矢
Original assignee: Seiko Epson Corp
Current assignee: Seiko Epson Corp
Priority date: 2017-11-06
Filing date: 2018-11-02
Publication date: 2019-05-14
Anticipated expiration: 2038-11-02
Also published as: JP2019084607A; US20190134810A1; JP7009935B2; CN117464653A; US11077549B2; CN109746905B

Abstract

A kind of robot and robot system, assemblability are excellent.Robot has: robot body portion has pedestal and mechanical arm；Driving portion drives the mechanical arm；And wiring, it is electrically connected with the driving portion, the mechanical arm includes shell, and the lid that the shell has main part and connect in a manner of it can assemble and disassemble with the main part, the driving portion includes first pulley；Second pulley has hollow hole；Band links the first pulley and the second pulley；And motor, the driving force for driving the mechanical arm is generated, rotates the first pulley or the second pulley by the driving force, the wiring includes iserting portion, is inserted through the hollow hole of the second pulley；And cross part, when from the direction of the rotary shaft along the second pulley, intersect with the band, the crossover sites are between the band and the main part.

Description

Robot and robot system

Technical field

The present invention relates to robot and robot systems.

Background technique

At present it is known that carrying out the industrial robot of various operations to operation object.This industrial robot is for example Include pedestal；Mechanical arm is configured to rotate relative to pedestal；And driving portion, it is set in mechanical arm, driving is mechanical Arm.

For example, Patent Document 1 discloses a kind of be set to the first arm, via joint the first arm the second arm and It is set to the robot of the wrist portion of the front end of the second arm.In addition, the robot have for drive the motor of wrist portion with And the retarder connecting with the motors, wrist portion are configured to work in the case where synchronous belt drives.

In addition, motor and retarder are provided in the side in the region surrounded by synchronous belt, another in the robot Side is provided with wrist portion, and the cable connecting with motor is passed through in a manner of passing through the inside of synchronous belt and pulled around to wrist portion.

Citation

Patent document

Patent document 1: Japanese Unexamined Patent Publication 2007-237342 bulletin

But in robot described in Patent Document 1, if band can not be replaced without removing cable, there is assembling Property difference problem.

Summary of the invention

Present invention at least part in order to solve the above problem and propose, can be realized as following application examples or mode.

According to the robot of the application example, which is characterized in that have: robot body portion, have pedestal and with it is described The mechanical arm that pedestal is connected in a manner of being relatively rotatable to each other；Driving portion is configured at the inside of the mechanical arm, drives the machine Tool arm；And wiring, it is configured at the inside of the mechanical arm, is electrically connected with the driving portion, the mechanical arm includes shell, institute It states shell and includes first with main part and the lid connecting in a manner of it can assemble and disassemble with the main part, the driving portion Pulley；Second pulley has hollow hole；Band links the first pulley and the second pulley；And motor, generate use In the driving force for driving the mechanical arm, rotate the first pulley or the second pulley by the driving force, it is described Wiring includes iserting portion, is inserted through the hollow hole of the second pulley；And cross part, from along the second pulley When the direction observation of rotary shaft, intersect with the band, the crossover sites are between the band and the main part.

According to this robot, even if wiring is not removed, band can also be removed from first pulley and second pulley or Installation.Therefore, the replacement that can easily be done band, can be improved assemblability.

In the robot of the application example, preferably, the main part is provided with the fixed part of the fixed wiring.

As a result, when removing or installing band, it can further mitigate obstruction caused by wiring.

In the robot of the application example, preferably, it is provided in the main part solid as the first of the fixed part Determine portion and the second fixed part, when from the direction of the rotary shaft along the second pulley, first fixed part is configured at The inside of the band, second fixed part are configured at the outside of the band.

When removing or install band thereby, it is possible to further reliably mitigate the cross part that is routed and its it is neighbouring caused by harm Hinder.

In the robot of the application example, preferably, the driving portion also has retarder, and the retarder has can Be routed the through hole that is inserted through for described, the first pulley is installed on the motor, the second pulley with the hollow hole with The mode of the through hole connection is installed on the retarder, the motor and the retarder relative to the band positioned at described Main part side.

It is for example removed as a result, by that will cover, without removing motor and retarder, it will be able to simply carry out band Replacement operation.

In the robot of the application example, preferably, the mechanical arm has: A arm, including the shell；B arm, It connect, and can be rotated relative to the A arm with the A arm, the mechanical arm also has as the driving A arm The A arm of the driving portion driving portion and the B arm driving portion as the driving portion for driving the B arm, institute It states A arm driving portion and the B arm and is set to the A arm with driving portion.

Even if not removing wiring as a result, being also able to carry out A arm driving portion and B arm driving portion respectively has Band replacement, can more easily carry out the assembling of A arm driving portion and B arm driving portion.

In the robot of the application example, preferably, the robot is also equipped with drive substrate, the drive substrate configuration In the inside of the mechanical arm, the driving portion is driven.

It, can be in the drive for the inside for being set to mechanical arm as a result, compared with the situation that drive substrate is arranged on pedestal Configuration driven substrate near dynamic portion, can more easily carry out drive substrate in the electrical connection of driving portion.

In the robot of the application example, preferably, the driving portion is installed on the main part, the drive substrate peace Loaded on the lid.

It is removed from main part by that will cover as a result, is able to carry out the replacement etc. of drive substrate.Therefore, it can be realized group The raising of dress property and maintainability.

In the robot of the application example, preferably, the robot also has control base board and to the control base The power supply board of Plate supplying electric power, the control base board and the power supply board are set in the robot body portion.

As a result, due to having the control base board of the function as controller and power supply board and robot body portion to become one Body, therefore compared with the separated situation in robot body portion and controller, it can be improved the freedom degree of the configuration of robot.

According to the robot system of the application example, which is characterized in that have robot and control device, the robot packet It includes: robot body portion, the mechanical arm for having pedestal and being connect in a manner of being relatively rotatable to each other with the pedestal；Driving Portion is configured at the inside of the mechanical arm, drives the mechanical arm；And wiring, it is configured at the inside of the mechanical arm, with institute Driving portion electrical connection is stated, the control device is separately provided relative to the robot, and has control base board and to described Control base board supply electric power power supply board, the mechanical arm includes shell, the shell have main part and with the master The lid that body portion is connected in a manner of it can assemble and disassemble, the driving portion include first pulley；Second pulley has hollow hole；Band, The first pulley and the second pulley are linked；And motor, the driving force for driving the mechanical arm is generated, is passed through The driving force rotates the first pulley or the second pulley, and the wiring includes iserting portion, and it is sliding to be inserted through described second The hollow hole of wheel；And cross part, when from the direction of the rotary shaft along the second pulley, handed over the band Fork, the crossover sites are between the band and the main part.

According to this robot system, even if wiring is not removed, band can also be torn open from first pulley and second pulley Lower or installation.Therefore, the replacement that can easily be done band, can be improved assemblability.

Detailed description of the invention

Fig. 1 is the perspective view for showing the robot of first embodiment.

Fig. 2 is the perspective view of the robot shown in FIG. 1 from the direction different from Fig. 1.

Fig. 3 is the block diagram of robot shown in FIG. 1.

Fig. 4 is the figure of the robot shown in FIG. 1 from-x-axis side.

Fig. 5 is the figure of the robot shown in FIG. 1 from-y-axis side.

Fig. 6 is the figure of the robot shown in FIG. 1 from+z-axis side.

Fig. 7 is for illustrating the figure of multiple shells and lid possessed by robot.

Fig. 8 is the perspective view for schematically showing the inside in robot body portion possessed by robot.

Fig. 9 is the figure of the inside of the second arm from x-axis direction.

Figure 10 is the schematic diagram of the inside of the second arm from y-axis direction.

Figure 11 is the perspective view for schematically showing the inside of the 4th arm.

Figure 12 is the figure for schematically showing the state for removing the lid of the 4th arm.

Figure 13 is the figure for schematically showing a part of robot system of second embodiment.

Figure 14 is the block diagram of robot system shown in Figure 13.

Description of symbols:

1... robot body portion；5... control unit；5A... control unit；10... mechanical arm；11... the first arm； 12... the second arm；13... third arm；14... the 4th arm；15... the 5th arm；16... the 6th arm；20... pedestal；21... it leads Body；22... protruding portion；30... driving portion；31... the first driving portion；32... the second driving portion；33... third driving portion； 34... fourth drive part；35... the 5th driving portion；36... the 6th driving portion；40... position sensor；41a... iserting portion； 41b... iserting portion；The part 42a...；The part 42b...；43a... cross part；43b... cross part；50... external connecting； 51... control base board；52... power supply board；53... drive substrate；63... screw；71a... fixed part；71b... is fixed Portion；72a... fixed part；72b... fixed part；73a... fixed part；73b... fixed part；100... robot；100A... machine Device people；115... shell；116... lid；121... flat part；122... protruding portion；125... shell；126... lid；135... Shell；136... lid；141... part；142... part；145... shell；146... lid；147... lid；151... first Point；152... second part；153... hole；155... shell；160... through hole；161... hole；205... shell；206... Lid；210... shell；211... shell；212... shell；213... shell；214... shell；301... motor unit； 301a... motor unit；301b... motor unit；301c... motor unit；301d... motor unit；302... retarder； 302a... retarder；302b... retarder；302c... retarder；302d... retarder；303a... first pulley； 303b... first pulley；303c... first pulley；303d... first pulley；304a... second pulley；304b... second is sliding Wheel；304c... second pulley；304d... second pulley；305a... band；305b... band；305c... band；305d... band； 400... cable；401... wiring；500... control device；531... the first drive substrate；532... the second drive substrate； 533... third drive substrate；534... the 4th drive substrate；535... the 5th drive substrate；536... the 6th drive substrate； 1000... robot system；3021a... through hole；3021b... through hole；3041a... hollow hole；3041b... hollow Hole；3501... connector；3601... connector；5351... connector；5361... connector；A1... rotary shaft；A2... Rotary shaft；O1... rotation axis；O2... rotation axis；O3... rotation axis；O4... rotation axis；O5... rotation axis；O6... it rotates Axis；S1... inner space；S10... inner space；S20... inner space.

Specific embodiment

In the following, preferred embodiment based on the figure, carries out robot of the invention and robot system detailed Explanation.

First embodiment

Fig. 1 is the perspective view for showing the robot of first embodiment.Fig. 2 is Fig. 1 institute from the direction different from Fig. 1 The perspective view of the robot shown.Fig. 3 is the block diagram of robot shown in FIG. 1.Fig. 4 is from machine shown in FIG. 1 from-x-axis side The figure of people.Fig. 5 is the figure of the robot shown in FIG. 1 from-y-axis side.Fig. 6 is from robot shown in FIG. 1 from+z-axis side Figure.Fig. 7 is the figure for illustrating multiple shells and lid that robot has.8 be the machine possessed by robot that schematically shows The perspective view of the inside in device human agent portion.

It should be noted that below for ease of description, in Fig. 1, Fig. 2, Fig. 4~Fig. 8, as orthogonal each other Three axis, show x-axis, y-axis and z-axis, will indicate the front end side of the arrow of each axis as "+", using base end side as "-".Separately Outside, the direction parallel with x-axis is known as " x-axis direction ", the direction parallel with y-axis is known as " y-axis direction ", it will be parallel with z-axis Direction be known as " z-axis direction ".In addition, 20 side of pedestal of robot 100 shown in Fig. 1 is known as " cardinal extremity ", it is opposite Side (16 side of the 6th arm) is known as " front end ".In addition, the upside in Fig. 4 is known as "upper", downside is known as "lower".In addition, by Fig. 4 In up and down direction be used as " vertical direction ", using left and right directions as " horizontal direction ".

In addition, in the present specification, so-called "horizontal" also includes tilted in ± 5 ° of ranges below relative to level Situation.Similarly, so-called " vertical " also includes the case where tilted in ± 5 ° of ranges below relative to vertical.In addition, so-called "horizontal" not only includes the case where that two lines (including axis) or face are substantially parallel mutually, is also included within inclined feelings within ± 5 ° Condition.In addition, it is so-called " orthogonal ", not only include the case where that two lines (including axis) or face mutually with 90 ° of angle of intersection, also include The case where being tilted within ± 5 ° relative to 90 °.

Fig. 1 and robot shown in Fig. 2 100 are so-called six axis vertical multi-joint robots.The robot 100 for example can It is enough in manufacturing process of precision equipments such as manufacture wrist-watch etc. etc..The basic system of robot 100 is said first below It is bright.

There is robot body portion 1, multiple driving portions 30 built-in in robot body portion 1, position to pass for robot 100 Sensor 40 and control unit 5 (referring to Fig.1~Fig. 3).

It should be noted that in the present specification, by the posture of robot 100 shown in FIG. 1, (Fig. 2, Fig. 4~Fig. 8 is also Same posture) it is used as " basic form ".In addition, below for ease of description, as long as no special provision, about robot In the explanation of the configuration relation of 100 each section etc., based on being said with robot 100 of the basic form in the state of static It is bright.

Robot body portion

As shown in Figures 1 and 2, the mechanical arm 10 that robot body portion 1 has pedestal 20 and connect with pedestal 20.

Pedestal

Pedestal 20 is the part that robot 100 is installed on to arbitrary setting position.The setting position of pedestal 20 is not special Do not limit, such as be also possible to floor, wall, ceiling, workbench, moveable trolley etc..Pedestal 20 includes main body 21, Shape is in a rectangular parallelepiped shape；Protruding portion 22, be set to main body 21+z-axis, shape be it is cylindric.

Mechanical arm

Mechanical arm 10 is rotatably supported by pedestal 20, has the first arm 11, the second arm 12 (A arm), the Three arms 13 (B arm), the 4th arm 14, the 5th arm 15 and the 6th arm 16 (preceding end arms).These first arms 11, the second arm 12, third From base end side, end side is connected forward in the order listed for arm 13, the 4th arm 14, the 5th arm 15 and the 6th arm 16, and is configured to Arm or pedestal 20 relative to adjacent base end side rotate.

As shown in figure 4, the first arm 11 is connect with the protruding portion 22 of pedestal 20, and can be relative to pedestal 20 around along vertical The rotation axis O1 in direction is rotated.First arm 11 is in the shape for tilting extension upwards from pedestal 20, from z-axis direction When, the front end of the first arm 11 is more protruded outward than pedestal 20.

As shown in Figures 4 and 5, the second arm 12 and the front end of the first arm 11+part of x-axis side connect, and being capable of phase For the first arm 11 around the rotation axis O2 rotation along horizontal direction.It is curved in central portion when second arm 12 is from x-axis direction Bent elongate shape, comprising: flat part 121, in the shape extended from the first arm 11 to third arm 13；And protruding portion 122, from The central portion of flat part 121 is prominent to-x-axis direction.Protruding portion 122 the rotation of the second arm 12 with the first arm 11 not contact Mode and the first arm 11 separate.

As shown in Fig. 4, Fig. 5 and Fig. 6, the 3rd arm 13 is identical with the face that the sum of flat part 121 is provided with the first arm 11-x-axis The face (part) of side connects, and can be relative to the second arm 12 around the rotation axis O3 rotation along horizontal direction.Third arm 13 is in From the second arm 12 to-x-axis direction shape outstanding.In addition, third arm 13 in a manner of not contacted with protruding portion 122 with the second arm 12 connections.

As shown in figure 4, the 4th arm 14 is connect with the front end of third arm 13, and can relative to third arm 13 around with rotation Axis O3 orthogonal rotation axis O4 rotation.As shown in fig. 6, the 4th arm 14 is in the shape extended from third arm 13 to+y-axis direction, way In from base end side end side forward, while to+x-axis direction (side of the width direction of the 4th arm 14), the length of x-axis direction is (wide Degree) it is gradually reduced.The front end side that this 4th arm 14 has the length of cardinal extremity side section 141 and x-axis direction shorter than part 141 Part 142.

As shown in figure 4, the 5th arm 15 and front end section 142-part of x-axis side connect, and can be relative to the 4th Arm 14 is rotated around the rotation axis O5 orthogonal with rotation axis O4.As shown in Fig. 4 and Fig. 6, the 5th arm 15 has before the 4th arm 14 End to-x-axis direction first part 151 outstanding and the second part 152 that is connect with first part 151.First part 151 Shape it is cylindrical.On the other hand, the shape of second part 152 is cylindrical, has (the ginseng of hole 153 penetrated through along the y-axis direction According to Fig. 2).In addition, as shown in fig. 6, the ratio center line of second part 152 more leans on+part of x-axis side and the base of first part 151 End connection.In addition, in the present embodiment, first part 151 and second part 152 are integrally formed.

As shown in figure 4, the 6th arm 16 is connect with the base end part of the 5th arm 15, and can relative to the 5th arm 15 around with rotation Axis O5 orthogonal rotation axis O6 rotation.6th arm 16 is in the form of annular discs, has the 161 (reference of hole penetrated through along the y-axis direction in central portion Fig. 1).The hole 161 is connected to hole 153 possessed by the second part 152 of the 5th arm 15, constitutes through hole by hole 161 and hole 153 160 (referring to FIG. 1 and FIG. 2).Although not shown, but this 6th arm 16 such as enough become can install to operation object progress handle The end effector of various operations such as hold.In this case, the wiring of end-effector transmitting driving force can be made (not scheme Show) it is inserted through through hole 160.In addition, although not shown, but such as the 6th arm 16 can also enough become and can install detection and be applied to end Hold the force checking device (force sensor) of the power (including torque) on actuator.In such a situation it is preferred that in end effector And the 6th be arranged force checking device between arm 16.

This robot body portion 1 includes multiple exterior members (shell or lid), and passes through these multiple exterior member structures At the inner space S1 for accommodating multiple driving portions 30, multiple position sensors 40 and control unit 5 (referring to Fig. 7 and Fig. 8).It needs It is noted that inner space S1 has inside, that is, inner space S20 of pedestal 20 and the inside of mechanical arm 10 is internal empty Between S10, inner space S10 is connected to (referring to Fig. 7 and Fig. 8) with inner space S20.

As shown in fig. 7, pedestal 20 has the shell 210 including shell 205 (exterior member) and lid 206 (exterior member), Lid 206 is fixed on shell 205 by screw 63.In addition, the first arm 11 has a shell 211 including shell 115 and lid 116, second Arm 12 has the shell 212 including shell 125 and lid 126, and third arm 13 has the shell 213 including shell 135 and lid 136, 4th arm 14 has the shell 214 including shell 145, lid 146 and lid 147.In addition, each lid 116,126,136,146,147 is (outer Fill component) corresponding each shell 115,125,135,145 (exterior member) is fixed on by screw 63.In addition, the 5th arm 15 has Shell 155 as exterior member.

In addition, by the way that the seal member being made of gasket etc. is arranged between each exterior member, it can be hermetic The inside (inner space S1) of sealing robot main part 1.For example, between shell 115 and lid 116, shell 115 and lid Seal member is set (i.e. between the first arm 11 and the second arm 12) between 125.Robot body portion 1 can play excellent as a result, Different waterproof performance and anti-dust performance.Therefore, robot 100 can be suitably used for can for example land dust, water, cutting oil Deng environment in.

Simple illustration has been carried out to the basic structure in robot body portion 1 above.As described above, with this structure The robot 100 in robot body portion 1, be tool there are six (multiple) first arm 11, the second arm 12, third arm 13, the 4th arm 14, The vertical multi-joint robot of 5th arm 15 and the 6th arm 16.That is, there are six rotation axis O1~O6 for the tool of robot 100, it is six The robot of freedom degree.Therefore, the driving range of the front end of mechanical arm 10 is wider, and thus, it is possible to play higher workability. It should be noted that in the present embodiment, the quantity of arm possessed by robot 100 is six, but the quantity of arm both can be with It is one~five, is also possible to seven or more.Wherein, in order to make mechanical arm 10 front end be arranged end effector (not Diagram) it is securely positioned in the target position in three-dimensional space, the quantity (quantity of rotation axis) of preferred arm is at least at six or more.

In addition, as described above, the 5th arm 15 and the part 142 of the 4th arm 14-part of x-axis side connect.In this way, the 5th Arm 15 does not clamp such structure supported by both arms by the 4th arm 14, by 14 cantilever support of the 4th arm.As a result, with The case where five arms 15 are supported by 14 both arms of the 4th arm is compared, and simplifying the structure for the 4th arm 14 and the 5th arm 15 can be made, can Reduce cost.In addition, as described above, the second arm 12 and the front end of the first arm 11+part of x-axis side connect.In this way, second Arm 12 does not clamp such structure supported by both arms by the first arm 11, by 11 cantilever support of the first arm.As a result, with The case where two arms 12 are supported by 11 both arms of the first arm is compared, and respectively simplifying the structure for the first arm 11 and the second arm 12, energy can be made Enough reduce cost.In this way, in the present embodiment, having multiple (two) by the arm of cantilever support.Therefore, mechanical arm can be made 10 simplify the structure, can be greatly reduced cost.

In addition, in the present embodiment, the volume in pedestal 20 is identical or smaller as the volume of mechanical arm 10.Cause This, can be improved the freedom degree of the setting of pedestal 20.

Driving portion

As shown in figure 3, robot 100 has and the first arm 11, the second arm 12, third arm 13, the 4th arm 14, the 5th arm 15 And the driving portion 30 of the identical quantity (being six in present embodiment) of the 6th arm 16.Multiple driving portions 30 be respectively provided with make it is corresponding Arm relative to be located at its base end side arm (or pedestal 20) rotate function, and have including as power source motor and braking The motor unit 301 of device, includes the power transfer mechanism (not shown) with (not shown) and pulley (not shown) at retarder 302. As motor, such as it is able to use the servo motors such as AC servo motor, DC servo motor.As retarder 302, such as can make With Wave gear device etc..

In addition, in the present embodiment, a driving portion 30 is responsible for the driving of an arm.Therefore, robot 100, which has, drives First driving portion 31 of dynamic first arm 11, the second driving portion 32 for driving the second arm 12, the third driving portion for driving third arm 13 33, the of the 6th arm 16 of the fourth drive part 34 of the 4th arm 14, the 5th actuating arm 35 for driving the 5th arm 15 and driving is driven Six actuating arms 36.In addition, not distinguishing the first driving portion 31, the second driving portion 32, third driving portion 33, fourth drive part below 34, in the case where the 5th driving portion 35 and the 6th driving portion 36, they are referred to as driving portion 30.

As shown in figure 8, motor unit 301 possessed by the first driving portion 31 and retarder 302 are respectively arranged at the first arm In 11.Though diagram, the first driving portion 31 do not have motor unit 301, retarder 302, the axle portion with motor unit 301 in detail The first pulley (not shown) of connection, with first pulley separate configuration and with the axle portion of retarder 302 connection second pulley (not Diagram) and across frame in the band (not shown) of first pulley and second pulley.It should be noted that aftermentioned second driving portion 32, third driving portion 33, fourth drive part 34, the 5th driving portion 35 and the 6th driving portion 36 are also almost the same, by so-called Band driving is to drive corresponding arm.

As shown in figure 8, motor unit 301 possessed by the second driving portion 32 is set in protruding portion 122, the second driving portion Retarder 302 possessed by 32 is set to the interconnecting piece (joint portion) of the second arm 12 and the first arm 11.In addition, third driving portion 33 Possessed motor unit 301 is set in protruding portion 122, and retarder 302 possessed by third driving portion 33 is set to second The interconnecting piece (joint portion) of arm 12 and third arm 13.In addition, motor unit 301 and retarder possessed by fourth drive part 34 302 are respectively arranged in third arm 13.In addition, motor unit 301 possessed by the 5th driving portion 35 is set to the 4th arm 14 In cardinal extremity side section 141, retarder 302 possessed by the 5th driving portion 35 is set in the first part 151 of the 5th arm 15.Separately Outside, motor unit 301 possessed by the 6th driving portion 36 is set in the cardinal extremity side section 141 of the 4th arm 14, the 6th driving portion Retarder 302 possessed by 36 is set in the second part 152 of the 5th arm 15 (referring to Fig. 8).In addition, although not shown, but the Six driving portions 36 have the switching mechanism that the direction of transfer of the driving force of bevel gear etc. is converted to 90 °.

Position sensor

As shown in figure 3, robot 100 has the position sensor 40 of quantity identical as driving portion 30, driven for one Portion 30 is provided with a position sensor 40 (angular transducer).Position sensor 40 detects 301 (specially horse of motor unit Up to) or retarder 302 rotary shaft (axle portion) rotation angle.Thereby, it is possible to obtain the arm of front end side relative to base end side The information such as the angle (posture) of arm.As this each position sensor 40, such as be able to use rotary encoder etc..In addition, each Position sensor 40 is electrically connected with the control base board 51 that aftermentioned control unit 5 has.

Control unit

As shown in figure 3, control unit 5 supplies power supply board 52, the base of electric power including control base board 51, to control base board 51 In multiple drive substrates 53 of each driving portion 30 of the order-driven of control base board 51.In addition, by control base board 51 and power supply board 52 composition supplying machine people 100 driving needed for electric power and control robot 100 driving control device (controller).

Control base board

As shown in figure 8, control base board 51 is set to inner space S20, there is the driving of each section of control robot 100 Control circuit (not shown).Control circuit includes CPU (Central Processing Unit: central processing unit) etc. Manage volatile memory and ROM (the Read Only such as device, RAM (Random Access Memory: random access memory) Memory: read-only memory) etc. nonvolatile memories etc., carry out the control of the driving of each section of robot 100, various fortune The processing such as calculation and judgement.For example, control circuit is able to carry out predetermined control program, by according to the control program to each driving base The output control signal of plate 53, makes robot 100 (specially mechanical arm 10) to execute predetermined work.

Power supply board

As shown in figure 8, power supply board 52 is set to inner space S20, there is generation to drive base to control base board 51 and respectively The power circuit (not shown) for the electric power that plate 53 is supplied respectively.Power circuit has a transformer and noise filter, such as will be from The frequency and voltage of the electric power of the external power supplies such as source power supply supply (not shown) converted and be supplied to control base board 51 and Each drive substrate 53.Particularly, in the present embodiment, power circuit, which has, converts the alternating voltage exported from external power supply For 52V DC voltage (driving voltage) and be output to the converter of each drive substrate 53 etc..

In addition, above-mentioned control base board 51 and power supply board 52 (is not schemed such as the bearing part constituted by metal plate Show) it supports, the bearing part is detachable relative to pedestal 20.Therefore, control base board 51 and power supply board 52 can be with the bearings Component is fetched into the outside of pedestal 20 together.It for example can easily be done the dimension of control base board 51 and power supply board 52 as a result, Shield.

Drive substrate

As shown in figure 8, each drive substrate 53 is distributed in internal space S 10, has and receive from control base board 51 Control signal and be converted into (generation) for be supplied to driving portion 30 electric power driving circuit (not shown).Driving circuit example Such as has the inverter circuit that direct current power (electric current) is converted to AC power (electric current).

In addition, in the present embodiment, being provided with a drive substrate 53 for a driving portion 30, each driving portion 30 is right The drive substrate 53 answered carries out the conversion (generation) of the electric power for being supplied to the driving portion 30.Therefore, robot 100 have pair Should the first drive substrate 531 in the first driving portion 31, the second drive substrate 532 corresponding to the second driving portion 32, correspond to The third drive substrate 533 of third driving portion 33, corresponding to fourth drive part 34 the 4th drive substrate 534, correspond to the 5th 5th drive substrate 535 of driving portion 35, corresponding to the 6th drive substrate 536 of the 6th driving portion 36.In addition, below in not area The first drive substrate 531, the second drive substrate 532, third drive substrate 533, the 4th drive substrate the 534, the 5th is divided to drive base In the case where plate 535 and the 6th drive substrate 536, they are referred to as drive substrate 53.

As shown in figure 8, the first drive substrate 531 is set in the first arm 11, and it is set to the first driving portion 31 and is had Near some motor units 301.Second drive substrate 532 is set in the protruding portion 122 of the second arm 12, and is set to second Near motor unit 301 possessed by driving portion 32.Third drive substrate 533 is set in the protruding portion 122 of the second arm 12, And it is set near motor unit 301 possessed by third driving portion 33.4th drive substrate 534 is set to third arm 13 It is interior, and be set near motor unit 301 possessed by fourth drive part 34.5th drive substrate 535 is set to the 4th arm In 14, and it is set near motor unit 301 possessed by the 5th driving portion 35.6th drive substrate 536 is set to the 4th In arm 14, and it is set near motor unit 301 possessed by the 6th driving portion 36.

In addition, being provided in pedestal 20 such as the multiple external connectings 50 being made of connector (referring to Fig. 7).Outside Portion's interconnecting piece 50 is electrically connected with control base board 51, power supply board 52.For example, an external connecting 50 is for connecting and outside The power connector of the external power supply plug (disconnected portion) of power electric connection, by by the external connecting 50 and external power supply Plug connection supplies electric power to robot 100.Thereby, it is possible to drive robot 100.

It should be noted that the concrete example as external connecting 50 can also arrange other than above-mentioned power connector Lift operator in order to work instruction is carried out to robot 100 and use for each with teaching box (teaching pendant) etc. Kind of equipment carry out the input and output of signal connector, for the signal for end effector output connector, be used for Control the connector etc. of the input and output of relevant data such as program.

The basic structure of robot 100 is illustrated above.As described above, having the function of the control list of controller Member 5 is accommodated in the S1 of inner space.That is, robot 100 have the control base board 51 that is arranged in robot body portion 1 and The power supply board 52 of electric power is supplied to control base board 51.

As a result, by having the function of that the control unit 5 of controller and robot body portion 1 are integrated, it is not necessary that as Each configuration for considering controller and robot body portion 1 like that in the past, can be improved the freedom degree of the configuration of robot 100.Separately Outside, compared to situation about separating with controller, total setting area can be reduced, in addition, the connection etc. to controller can be saved Time.

In addition, as described above, control base board 51 and power supply board 52 are set in the pedestal 20 in robot body portion 1. The design of the configuration for the various wirings (not shown) for as a result, connecting control base board 51 and power supply board 52 with each drive substrate 53 It is easier to.In addition, can steadily match compared with the situation that control base board 51 and power supply board 52 are arranged in mechanical arm 10 Control base board 51 and power supply board 52 are set, in addition, can also prevent the increase for moving weight of the front end of mechanical arm 10.

In addition, as described above, mechanical arm 10 has the first arm 11 pivotally connecting with pedestal 20, first The first driving portion 31 of the first arm 11 of driving is provided in arm 11.The side in pedestal 20 is configured at the first driving portion 31 as a result, Formula is compared, and the first driving portion 31 can be made to be arranged distant from the control base board 51 etc. in pedestal 20.Therefore, because can reduce from The heat and the thermal runaway caused by the heat of the generations such as control base board 51 that first driving portion 31 generates, therefore can be long-term and stably Drive robot 100.In addition, as described above, mechanical arm 10 has the second arm pivotally connecting with the first arm 11 12, the second driving portion 32 of the second arm 12 of driving is provided in the second arm 12.Thereby, it is possible to more effectively be discharged from first to drive The heat that dynamic portion 31 and the second driving portion 32 generate.

In addition, as described above, mechanical arm 10 has the first arm 11, the second arm 12, third arm 13, the 4th arm 14, the 5th arm 15 and the 6th arm 16, it is provided in mechanical arm 10 and separately drives the first arm 11, the second arm 12, third arm 13, Multiple driving portions 30 of four arms 14, the 5th arm 15 and the 6th arm 16 (multiple arms).In addition, multiple driving portions 30 are in mechanical arm 10 Interior scattering device (referring to Fig. 8).As a result, due to the heat that can disperse to generate from driving portion 30, thermal runaway, therefore energy can reduce It is enough to drive robot 100 long-term and stably.In addition, the configuration of multiple driving portions 30 is not limited to configuration shown in figure.Separately Outside, above-mentioned " dispersion " not only includes the case where the whole sporadically separate configurations of multiple driving portions 30, also includes multiple driving portions 30 the case where being at least separately configured to two groups.

In addition, as described above, be provided in the first arm 11 driving the first driving portion 31 the first drive substrate 531, The second drive substrate 532 of the second driving portion 32 of driving is provided in second arm 12.Thereby, it is possible to make the first drive substrate 531 The connection of connection and the second drive substrate 532 and the second driving portion 32 with the first driving portion 31 is respectively simple structure.Separately It outside, can be steady for a long time since the heat generated from the first drive substrate 531 and the second drive substrate 532 can be made to scatter Surely robot 100 is driven.

Further, the multiple of multiple driving portions 30 are separately driven as described above, being provided in mechanical arm 10 Drive substrate 53.In addition, multiple drive substrates 53 scattering device in mechanical arm 10.As a result, for example with pass through a driving base Plate 53 drives the structure of multiple driving portions 30 to compare, and the connection of drive substrate 53 and corresponding driving portion 30 can be made simple Single structure.In addition, by making multiple 53 scattering devices of drive substrate the heat generated from drive substrate 53 can be dispersed, therefore Robot 100 can be driven long-term and stably.In addition, the configuration of multiple drive substrates 53 is not limited to match shown in figure It sets.Above-mentioned " dispersion " not only includes the case where the whole sporadically separate configurations of multiple drive substrates 53, also includes multiple drivings The case where substrate 53 is at least separately configured to two groups.

In addition, as shown in the figure, particularly preferred each drive substrate 53 is set near corresponding driving portion 30.As a result, Compared with unified the case where configuring, wiring and the signal of power-supply system can be greatly decreased in pedestal 20 with multiple drive substrates 53 The quantity of the wiring of system.

In addition, this robot 100 is calm fan structure.That is, being not provided with makes internal sky in robot body portion 1 Between the fan of air-flow is generated in S1.It for example can be realized the excellent robot 100 of sealing performance as a result,.As described above, passing through electricity Source substrate 52 has the conversion that the alternating voltage exported from external power supply is converted to DC voltage (relatively low driving voltage) Device can be realized calm fan structure.In addition, robot 100 can also have fan (not shown).

Structure in second arm

Fig. 9 is the figure of the inside of the second arm from x-axis direction.Figure 10 is the inside of the second arm from y-axis direction Schematic diagram.

Then, detailed to the second arm 12 and the equal carry out of the second driving portion 32 being set to inside it and third driving portion 33 Explanation.

As shown in FIG. 9 and 10, the second driving portion 32 and third driving portion 33 are configured in the inside of the second arm 12.

Second driving portion 32 has motor unit 301a (motor unit 301), retarder 302a (retarder 302) and horse The first pulley 303a and first pulley 303a separate configuration that link up to the axle portion of unit 301a and the axle portion with retarder 302a The second pulley 304a of connection, across frame in first pulley 303a and second pulley 304a band 305a.

Motor unit 301a is for example including motor, brake etc..Motor unit 301a is configured at the protrusion of the second arm 12 Portion 122 is installed on shell 125 via various parts (not shown).In addition, the first pulley 303a with motor unit 301a connection Positioned at more being leaned on than motor unit 301a at 126 side of lid.

Retarder 302a is Wave gear device.Retarder 302a is configured at the interconnecting piece of the second arm 12 and the first arm 11 (joint portion).In addition, being located at the position for more leaning on 126 side of lid than retarder 302a with the second pulley 304a that retarder 302a links It sets.Therefore, the position that 126 side of lid is more leaned on than retarder 302a, motor unit 301a also is located at 305a.In addition, retarder There is 302a the through hole 3021a penetrated through along the x-axis direction, second pulley 304a also to have the hollow hole penetrated through along the x-axis direction 3041a.In addition, through hole 3021a is connected to hollow hole 3041a.

Third driving portion 33 has motor unit 301b (motor unit 301), retarder 302b (retarder 302) and horse The first pulley 303b and first pulley 303b separate configuration that link up to the axle portion of unit 301b and the axle portion with retarder 302b The second pulley 304b of connection, across frame in first pulley 303b and second pulley 304b band 305b.33 phase of third driving portion + z-axis side is configured at for the second driving portion 32.

Motor unit 301b is for example including motor, brake etc..Motor unit 301b is configured at the protrusion of the second arm 12 Portion 122 is installed on shell 125 via various parts (not shown).In addition, the first pulley 303b with motor unit 301b connection Positioned at more being leaned on than motor unit 301b at 126 side of lid.

Retarder 302b is Wave gear device.Retarder 302b is configured at the interconnecting piece of the second arm 12 and third arm 13 (joint portion).It is more leaned at 126 side of lid in addition, being located at the second pulley 304b that retarder 302b links than retarder 302b.Cause This, band 305b also is located at more to be leaned at 126 side of lid than retarder 302b and motor unit 301b.In addition, retarder 302b has along x The through hole 3021b of axis direction perforation, second pulley 304b also have the hollow hole 3041b penetrated through along the x-axis direction.

This second driving portion 32 and third driving portion 33 are electrically connected with cable 400 respectively.Specifically, such as cable 400 Including multiple wirings 401, though diagram, a part of branch in multiple wirings 401 that cable 400 includes are not connected in detail The second drive substrate 532 being electrically connected with the second driving portion 32, the third drive substrate 533 being electrically connected with third driving portion 33. Though the cable 400 is electrically connected with control base board 51, power supply board 52, from pedestal 20 it should be noted that not illustrating in detail Inside is pulled around to each driving portion 30 being configured in the first arm 11, the second arm 12, third arm 13 and the 4th arm 14.

As shown in Figure 10, cable 400 leads to by from through hole 3021a and hollow hole 3041a pull-out in the second driving portion 32 It crosses between 305a and lid 126 (specially lid 126+surface b of x-axis side), band 305a is passed through near motor unit 301a, With being drawn out between 305a and shell 125 (specially shell 125-surface of x-axis side).It is passed through that is, cable 400 has to be inserted through The iserting portion 41a of through-hole 3021a and hollow hole 3041a, it is slided positioned at the part 42a between 305a and lid 126 and from second When the axis direction of the rotary shaft A1 of the axis direction or first pulley 303a of the rotary shaft A2 of wheel 304a observes (from x-axis direction) With the cross part 43a intersected with 305a.In addition, in the present embodiment, the rotary shaft A2 and first pulley of second pulley 304a The rotary shaft A1 of 303a is parallel.

In addition, cable 400 is in third driving portion 33, near motor unit 301b, from band 305a and shell 125 it Between pass through band 305a, pulled into band 305b and lid 126 between, by band 305b and lid 126 between, pulled around to hollow hole 3041b and through hole 3021b.That is, cable 400 has the axis direction or first pulley from the rotary shaft A2 of second pulley 304b With the cross part 43b intersected with 305b, positioned at band 305b when the axis direction of the rotary shaft A1 of 303b observes (from x-axis direction) Part 42b between the lid 126 and iserting portion 41b for being inserted through through hole 3021b and hollow hole 3041b.

In this way, there is retarder 302a through hole 3021a, second pulley 304a there is hollow hole 3041a similarly to subtract Fast device 302b has through hole 3021b, and second pulley 304b has hollow hole 3041b, so as to make cable 400 be inserted through machinery The inside of arm 10.Therefore, it is not necessary to pull around cable 400 to the outside of mechanical arm 10, it will be able to prevent cable 400 from interfering week Edge equipment (not shown) etc..

In addition, as shown in figure 9, cable 400 is fixed on the second arm by multiple fixed part 71a, 72a, 73a, 71b, 72b, 73b 12 shell 125.

The region surrounded when fixed part 71a is set to from x-axis direction near hollow hole 3041a with 305a It is interior.In addition, by band when fixed part 72a (the first fixed part) is set to from x-axis direction near motor unit 301a In the region that 305a is surrounded, fixed part 73a (the second fixed part) is set to from x-axis direction near motor unit 301a When by band 305a encirclement region outside.By these fixed parts 72a, 73a, the cross part 43a of cable 400 is not done with 305a It relates to.

Similarly, it is surrounded when fixed part 71b is set to from x-axis direction near hollow hole 3041b by band 305b Region in.In addition, when fixed part 72b (the first fixed part) is set to from x-axis direction near motor unit 301b In the region surrounded with 305b, fixed part 73b (the second fixed part) is set to from x-axis direction near motor unit 301b Outside the region surrounded when observation with 305b.Not by these fixed parts 72b, 73b, the cross part 43b of cable 400 and with 305b Interference.

In this way, be provided with the second driving portion 32 and third driving portion 33 in the second arm 12, cable 400 relative to these Two driving portions 32 and third driving portion 33 are pulled around, and cable 400 is solid by multiple fixed part 71a, 72a, 73a, 71b, 72b, 73b It is fixed.Thereby, it is possible to configure cable 400 as shown in FIG. 9 and 10.Also, in cross part 43a, 43b of cable 400, band 305a, 305b are located at than cable 400 more at 126 side of lid (+x-axis side).Therefore, even if not removing cable 400, by+x-axis Layback goes out band 305a, will simply can also remove with 305a from first pulley 303a and second pulley 304a.Likewise, even if Do not remove cable 400, by going out band 305b to+x-axis layback, also can simply by with 305b from first pulley 303b and second Pulley 304b is removed.In addition, can also install new band 305a, 305b even if not removing cable 400.

The second arm 12 and its inside are illustrated above.As described above, robot 100 has: robot body portion 1, the mechanical arm 10 for having pedestal 20 and being connect in a manner of being relatively rotatable to each other with pedestal 20；Second as " driving portion " Driving portion 32 is configured at the inside of mechanical arm 10, drives mechanical arm 10 (the second arm 12 specially in mechanical arm 10)；And cloth Line 401 (cable 400), is configured at the inside of mechanical arm 10, is electrically connected with the second driving portion 32 (referring to Fig. 8, Fig. 9 and Figure 10). In addition, mechanical arm 10 (specially the second arm 12) includes the shell 125 and shell 212 as " main part ", shell 212 have with The lid 126 that shell 125 is connected in detachable mode.In addition, the second driving portion 32 includes first pulley 303a；Second pulley 304a has hollow hole 3041a；Band 305a, first pulley 303a and second pulley 304a is linked；And motor (including horse The motor unit 301a reached), the driving force of driving mechanical arm 10 is generated, first pulley 303a or second pulley are made by driving force 304a rotation.In addition, 401 (cables 400) of wiring include iserting portion 41a, it is inserted through the hollow hole 3041a of second pulley 304a；With And cross part 43a, when from the direction of the rotary shaft along second pulley 304a, intersect with band 305a, cross part 43a is located at Between band 305a and shell 125.

According to this robot 100, even if cable 400 is not removed, as described above, can will also be slided with 305a from first Wheel 303a and second pulley 304a is unloaded or is installed.Therefore, it can easily be done the replacement with 305a, can be improved the second drive The assemblability in dynamic portion 32.

Similarly, in the present embodiment, has the third driving portion 33 as " driving portion ", three driving portion 33 configuration In the inside of mechanical arm 10, drive mechanical arm 10 (the third arm 13 specially in mechanical arm 10).In addition, third driving portion 33 has Have: first pulley 303b；Second pulley 304b has hollow hole 3041b；Band 305b, by first pulley 303b and second pulley 304b connection；And motor unit 301b, including motor, the driving force of driving mechanical arm 10 is generated, makes first by driving force Pulley 303b or second pulley 304b rotation.In addition, 401 (cables 400) of wiring include iserting portion 41b, it is inserted through second pulley The hollow hole 3041b of 304b；And cross part 43b, when from the direction of the rotary shaft along second pulley 304b, with band 305b intersects, and cross part 43b is located between band 305b and shell 125.

Even if not removing cable 400 as a result, can will also be torn open with 305b from first pulley 303b and second pulley 304b Lower or installation.Therefore, it can easily be done the replacement with 305b, can be improved the assemblability of third driving portion 33.Therefore, energy Enough maintenances for more simply carrying out robot 100.

In addition, as described above, being provided with fixed wiring 401 (cable 400) in the shell 125 as " main part " (being multiple in the present embodiment) fixed part 71a, 72a, 73a, 71b, 72b, 73b.

As a result, when removing or installing band 305a, 305b, it can further mitigate obstruction caused by wiring.Therefore, can More easily and reliably carry out the replacement with 305a, 305b.In addition, in the present embodiment, fixed part 71a and fixed part 71b For identical structure, fixed part 72a and fixed part 72b are identical structure, and fixed part 73a and fixed part 73b are identical knot Structure.Therefore, design is also easy, and also can be realized the reduction of cost.

In the present embodiment, as described above, in robot 100, it is arranged in the shell 125 as " main part " Have: fixed part 72a (the first fixed part), from the direction of the rotary shaft A2 along second pulley 304a (or along the side of rotary shaft A1 To) observation when, be configured at the inside with 305a；And fixed part 73a (the second fixed part), as being configured at the outside with 305a " fixed part ".Similarly, it is provided with fixed part 72b (the first fixed part), when from the direction along rotary shaft A2, is matched It is placed in the inside with 305b；And fixed part 73b (the second fixed part), it is configured at the outside with 305b.

As a result, when removing or installing band 305a, 305b, it further can reliably mitigate the cross part of cable 400 43a, 43b and its nearby caused by interfere.In addition, due to can reduce or the interference of anti-stop-band 305a, 305b and cable 400, Therefore it can reduce when mechanical arm 10 works with 305a, 305b, unfavorable condition of cable 400 etc..

In addition, as described above, the second driving portion 32 have retarder 302a, retarder 302a have can for wiring 401 The through hole 3021a that (cable 400) is inserted through, first pulley 303a are installed on motor (motor unit 301a), second pulley 304a Retarder 302a is installed in such a way that hollow hole 3041a is connected to through hole 3021a.In addition, motor (motor unit 301a) And retarder 302a is relative to 125 side of shell being located at 305a as " main part ".

In this way, retarder 302a is not integrated with motor unit 301a, but it is separately positioned at different location.Also, It, can be simply as shown in Figure 10 by 400 phase of cable by using through hole 3021a possessed by retarder 302a Band 305a is configured.That is, cable 400 can simply be made to become the structure with iserting portion 41a and cross part 43a. As a result, as described above, by removing lid 126, without removing retarder 302a and motor unit 301a, it will be able to simply remove Band 305a.

Similarly, third driving portion 33 have retarder 302b, retarder 302b have can for be routed 401 (cables 400) the through hole 3021b being inserted through, first pulley 303b and motor (motor unit 301b) arranged coaxial, second pulley 304b with The mode and retarder 302b arranged coaxial that hollow hole 3041b is connected to through hole 3021b.In addition, motor (motor unit 301b) and retarder 302b relative to band 305b be located at 125 side of shell.Therefore, in third driving portion 33, due to that can compare Cable 400 is relatively simply set to become the structure with iserting portion 41b and cross part 43b, therefore by removing lid 126, it will be able to Simply remove band 305b.In addition, so-called above-mentioned " coaxial ", refers to the rotary shaft A1 and motor unit of first pulley 303b The rotation axis for the motor that 301b has is consistent or the rotation axis one of the rotary shaft A2 and retarder 302b of second pulley 304b It causes.

In addition, as described above, in the present embodiment, retarder 302a, 302b are Wave gear device respectively.As a result, It can be to easily and reliably using having and the retarder 302a of through hole 3021a that is inserted through of current supply cable 400 and can have energy The retarder 302b for the through hole 3021b that enough current supply cables 400 are inserted through.In addition, retarder 302a, 302b are also possible to fluctuate gear Retarder other than device.

In addition, mechanical arm 10 has: the second arm 12 (A arm), including shell 212；Third arm (B arm), with the second arm 12 connections, can rotate relative to the second arm 12, and mechanical arm 10 also has " driving portion " as the second arm 12 of driving (the B arm use of third driving portion 33 of second driving portion 32 (A arm driving portion) and " driving portion " as driving third arm 13 Driving portion).In addition, the second driving portion 32 and third driving portion 33 are set to the second arm 12 (A arm).

Even if not removing cable 400 as a result, it is also able to carry out the replacement with 305a, 305b, can more simply be carried out The assembling of the second driving portion 32 and third driving portion 33 that are configured in the second arm 12.In addition, by arm (second arm 12) two driving portions 30 (the second driving portion 32 and third driving portion 33) are configured in, assembling is particularly easy to, and furthermore also can be realized The reduction of the whole number of components of robot 100.In addition, design is also easy by making band 305a, 305b identical structure, Also it can be realized the reduction of cost.

In addition, by making motor unit 301a, 301b and retarder 302a, 302b all relative to 305a, 305b, band In 125 side of shell, two can be pulled out with 305a, 305b to same direction (opposite side of shell 125).In this embodiment party In formula, as described above, band 305a, 305b can be gone out to+x-axis layback (referring to Fig. 9).Therefore, the replacement with 305a, 305b is compared It is easy, therefore, can especially improve maintainability.

In addition, in the above description, to be configured at the second driving portion 32 and third driving portion 33 of the inside of the second arm 12 In cable 400 structure for be illustrated, but also can be identical structure in other driving portions 30.

Structure in 4th arm

Figure 11 is the perspective view for schematically showing the inside of the 4th arm.Figure 12 is to schematically show to remove on the lid of the 4th arm When state figure.It should be noted that showing lid 146 in Figure 11 and Figure 12, but the diagram of lid 147 is omitted.

Then, the 5th driving portion 35, the 6th driving portion 36, the 5th drive substrate to the inside for being set to the 4th arm 14 535 and the 6th drive substrate 536 be described in detail.

As shown in figure 11, the 5th driving portion 35 and the 6th driving portion 36 are configured in the inside of the 4th arm 14.

5th driving portion 35 has motor unit 301c (motor unit 301), retarder 302c (retarder 302) and horse The first pulley 303c and first pulley 303c separate configuration that link up to the axle portion of unit 301c and the axle portion with retarder 302c The second pulley 304c of connection and across frame in first pulley 303c and second pulley 304c band 305c.Motor unit 301c, It first pulley 303c, second pulley 304c and is set in the 4th arm 14 with 305c.In addition, retarder 302c is set to the 5th In the first part 151 of arm 15.In addition, motor unit 301c is installed on the shell 145 of the 4th arm 14 through not shown component. In addition, being provided with the connector 3501 for being responsible for connecting with the 5th drive substrate 535 in motor unit 301c.

6th driving portion 36 is set near the 5th driving portion 35.6th driving portion 36 has motor unit 301d (motor unit 301), retarder 302d (retarder 302), the first pulley 303d linked with the axle portion of motor unit 301d, with First pulley 303d separate configuration and with the axle portion of retarder 302d connection second pulley 304d and across frame in first pulley The band 305d of 303d and second pulley 304d.It motor unit 301d, first pulley 303d, second pulley 304d and is set with 305d It is placed in the 4th arm 14.In addition, retarder 302d is set in the second part 152 of the 5th arm 15, though not illustrating in detail, lead to It crosses the switching mechanism being made of two bevel gears etc. that the direction of transfer of driving force is converted 90 ° and second pulley 304d links. In addition, motor unit 301d is located at the front side in Figure 11 of above-mentioned motor unit 301c, installed through not shown component In the shell 145 of the 4th arm 14.In addition, in motor unit 301d, it is provided with and is responsible for connecting with the 6th drive substrate 536 Connector 3601.

In this way, can be realized the 5th arm 15 by the way that the 5th driving portion 35 and the 6th driving portion 36 are arranged in the 4th arm 14 And the 6th arm 16 miniaturization and lightweight.Therefore, the lightweight that can be realized the front end of mechanical arm 10, can reduce machinery The joint load of arm 10.

In addition, being provided with the 5th drive substrate 535 near the 5th driving portion 35.5th drive substrate 535 is can fill The mode torn open is installed on the lid 146 of the 4th arm 14.In addition, being provided with and being responsible for and the 5th driving portion in the 5th drive substrate 535 The connector 5351 of 35 electrical connection, connector 5351 are connect with above-mentioned connector 3501 by wiring (not shown) etc..

In addition, being provided with the 6th drive substrate 536 near the 6th driving portion 36.6th drive substrate 536 is located at upper The 5th driving portion 35 stated-z-axis side, the lid 146 of the 4th arm 14 is installed in detachable mode.In addition, in the 6th driving In substrate 536, it is provided with and is responsible for and the connector 5361 of the 6th driving portion 36 being electrically connected, connector 5361 and above-mentioned connection Device 3601 passes through the connections such as wiring (not shown).

In this way, as shown in figure 12, being led to by making the 5th drive substrate 535 and the 6th drive substrate 536 be set to lid 146 It crosses and removes lid 146 from shell 145, the 5th drive substrate 535 and the 6th drive substrate 536 and lid 146 can be made outside together Expose in portion.Therefore, without removing motor unit 301c and motor unit 301d, it will be able to be easy to carry out the 5th drive substrate 535 and the 6th drive substrate 536 maintenance and assembling etc..

The internal structure of the 4th arm 14 is illustrated above.As described above, robot 100, which has, is configured at mechanical arm Fiveth drive substrate 535 of 10 inside, driving as the 5th driving portion 35 of " driving portion " (referring to Fig. 8 and Figure 11).Specifically Ground, robot 100 have the inside for the 4th arm 14 being configured in mechanical arm 10, are located further forward for driving to be located at than the 4th arm 14 The 5th driving portion 35 and the 5th drive substrate 535 of the 5th arm 15 at end side.Similarly, robot 100 has the machine of being configured at Sixth drive substrate 536 of the inside, driving of tool arm 10 as the 6th driving portion 36 of " driving portion ".Specifically, robot 100 Has the inside for the 4th arm 14 being configured in mechanical arm 10, for driving the be located at and be located further forward at end side than the 4th arm 14 the 6th 6th driving portion 36 of arm 16 and the 6th drive substrate 536.

It, can be more simply as a result, since the 5th drive substrate 535 can be configured near the 5th driving portion 35 Carry out the electrical connection of the 5th drive substrate 535 and the 5th driving portion 35.Similarly, due to can be near the 6th driving portion 36 The 6th drive substrate 536 is configured, therefore can more simply carry out being electrically connected for the 6th drive substrate 536 and the 6th driving portion 36 It connects.

In addition, the 5th drive substrate 535 is installed on lid 146 as described above, the 5th driving portion 35 is installed on shell 145.Together Sample, the 6th driving portion 36 is installed on shell 145, and the 6th drive substrate 536 is installed on lid 146.

As a result, by removing lid 146 from shell 145, the 5th drive substrate 535 and the 6th driving can easily be done The replacement of substrate 536.Therefore, shell 145 or motor unit are set to the 5th drive substrate 535 and the 6th drive substrate 536 The case where 301a, 301b, is compared, and can be realized the assemblability and maintainability of the 5th drive substrate 535 and the 6th drive substrate 536 Raising.

In addition, making the 5th drive substrate 535 and the 6th driving by making motor unit 301a, 301b be installed on shell 145 Substrate 536 is installed on lid 146, so as to disperse from motor unit 301a, 301b and the 5th drive substrate 535 and the 6th driving The heat that substrate 536 generates.In addition, their heat transfer path can be separated.Therefore, it can be improved heat dissipation performance.

In addition, in the above description, the case where lid 146 are installed on the 5th drive substrate 535 and the 6th drive substrate 536 For be illustrated, but be also possible to identical structure in other driving portions 30.

Second embodiment

Then, second embodiment of the present invention is illustrated.

Figure 13 is the figure for schematically showing a part of robot system of second embodiment.Figure 14 is shown in Figure 13 The block diagram of robot system.

Present embodiment mainly with include control base board and power supply board control device (controller) and robot body Portion (robot) is provided separately, in addition to this, identical as above embodiment (robot 100).In addition, in the following description In, it about second embodiment, is illustrated centered on the difference with above embodiment, omits saying to identical item It is bright, or simple illustration is carried out using identical appended drawing reference.

As shown in FIG. 13 and 14, in the present embodiment, control device 500 is separately provided with robot 100A (controller).In the present embodiment, to the control device 500 (controller) for having robot 100A and separated setting Robot system 1000 is illustrated.

Robot system 1000 has: robot 100A, has robot body portion 1, multiple driving portions 30, multiple positions Sensor 40 and multiple drive substrates 53；And control device 500, there is control base board 51 and power supply board 52.In addition, machine People 100A and control device 500 are also possible to be wirelessly connected either wired connection.In addition, control device 500 and multiple drives Dynamic substrate 53 constitutes control unit 5A.Control unit 5 in control unit 5A and first embodiment plays identical function.

This robot system 1000 has robot 100A and control device 500, and robot 100A includes: robot master Body portion 1, the mechanical arm 10 for having pedestal 20 and being connect in a manner of being relatively rotatable to each other with pedestal 20；As " driving portion " Two driving portions 32 are configured at the inside of mechanical arm 10, drive mechanical arm 10 (the second arm 12 specially in mechanical arm 10)；And 401 (cables 400) are routed, the inside of mechanical arm 10 is configured at, is electrically connected with the second driving portion 32, control device 500 and machine People 100A is provided separately, and the power supply board 52 of electric power is supplied with control base board 51 and to control base board 51.In addition, mechanical Arm 10 (specially the second arm 12) includes shell 212, shell 212 have as " main part " shell 125 and with shell 125 with The lid 126 that detachable mode connects.In addition, the second driving portion 32 includes first pulley 303a；Second pulley 304a, has Hollow hole 3041a；Band 305a, first pulley 303a and second pulley 304a is linked；And motor (the motor list including motor First 301a), the driving force of driving mechanical arm 10 is generated, rotates first pulley 303a or second pulley 304a by driving force. In addition, 401 (cables 400) of wiring have iserting portion 41a, it is inserted through the hollow hole 3041a of second pulley 304a；Cross part 43a, from When being observed along the direction of the rotary shaft of second pulley 304a, intersect with band 305a, cross part 43a is located at band 305a and shell Between 125.

Similarly, in the present embodiment, it is also equipped with the third driving portion 33 as " driving portion ", is configured at mechanical arm 10 Inside, drive mechanical arm 10 (the third arm 13 specially in mechanical arm 10).Third driving portion 33 includes first pulley 303b；Second pulley 304b has hollow hole 3041b；Band 305b, first pulley 303b and second pulley 304b is linked；With And motor unit 301b, including motor generate the driving force of driving mechanical arm 10, make first pulley 303b or the by driving force Two pulley 304b rotation.In addition, 401 (cables 400) of wiring include iserting portion 41b, it is inserted through the hollow hole of second pulley 304b 3041b；Cross part 43b when from the direction of the rotary shaft along second pulley 304b, intersects, cross part 43b with band 305b Between band 305b and shell 125.

According to this robot system 1000, in the same manner as first embodiment, even if cable 400 is not removed, also can It is enough easy to carry out the replacement with 305a, 305b, can be improved the assemblability of the second driving portion 32 and third driving portion 33, because This, can more easily be safeguarded.

More than, robot and robot system of the invention are illustrated based on embodiment shown in figure, but The present invention is not limited thereto, and the structure of each section can replace with arbitrary structures with the same function.In addition, in the present invention Any other construct can be added.Alternatively, it is also possible to which each embodiment is appropriately combined.

In addition, in the above-described embodiment, as robot of the invention, instantiating one armed robot, but the robot It is not limited to one armed robot, such as is also possible to the other robots such as tow-armed robot.That is, two can also be arranged in pedestal Above mechanical arm.

In addition, in the above-described embodiment, the second arm constitutes A arm, third arm constitutes B arm, but A arm and B arm It is not limited to this.

Claims

1. a kind of robot, which is characterized in that have:

Robot body portion, the mechanical arm for having pedestal and being connect in a manner of being relatively rotatable to each other with the pedestal；

Driving portion is configured at the inside of the mechanical arm, drives the mechanical arm；And

Wiring, is configured at the inside of the mechanical arm, is electrically connected with the driving portion,

The mechanical arm includes shell, and the shell has main part and connect in a manner of it can assemble and disassemble with the main part Lid,

The driving portion includes first pulley；Second pulley has hollow hole；Band slides the first pulley and described second Wheel connection；And motor, generate the driving force for driving the mechanical arm, by the driving force make the first pulley or The second pulley rotation,

The wiring includes iserting portion, is inserted through the hollow hole of the second pulley；And cross part, from along described When the direction observation of the rotary shaft of two pulleys, intersect with the band,

The crossover sites are between the band and the main part.

2. robot according to claim 1, which is characterized in that

The main part is provided with the fixed part of the fixed wiring.

3. robot according to claim 2, which is characterized in that

The main part is provided with the first fixed part and the second fixed part as the fixed part, is slided from along described second When the direction observation of the rotary shaft of wheel, first fixed part is configured at the inside of the band, and second fixed part is configured at The outside of the band.

4. robot according to any one of claim 1 to 3, which is characterized in that

The driving portion also has retarder, and the retarder has and can be routed the through hole being inserted through for described,

The first pulley is installed on the motor,

The second pulley is installed on the retarder in such a way that the hollow hole is connected to the through hole,

The motor and the retarder are located at the main part side relative to the band.

5. robot according to claim 1, which is characterized in that

The mechanical arm has: A arm, including the shell；B arm is connect with the A arm, and can be relative to described The rotation of A arm,

The mechanical arm also includes A arm driving portion, as the driving portion for driving the A arm；And B arm is used Driving portion, as the driving portion for driving the B arm,

The A arm driving portion and the B arm are set to the A arm with driving portion.

6. robot according to claim 1, which is characterized in that

The robot is also equipped with drive substrate, and the drive substrate is configured at the inside of the mechanical arm, drives the driving Portion.

7. robot according to claim 6, which is characterized in that

The driving portion is installed on the main part,

The drive substrate is installed on the lid.

8. robot according to claim 1, which is characterized in that

The robot also has control base board and the power supply board to control base board supply electric power, the control base board And the power supply board is set in the robot body portion.

9. a kind of robot system, which is characterized in that have robot and control device,

The robot includes:

The control device is separately provided relative to the robot, and has control base board and supply to the control base board The power supply board of electric power,

The crossover sites are between the band and the main part.